Hyper elastic soft growing robot

Abstract

Provided is a soft growing robot which may be precisely controlled by reducing the effect of a tail tension applied to its inner periphery. The soft growing robot includes a case having one open side; and a vine including an outer periphery having one end fixed to one side surface of the case, the inner periphery disposed inside the outer periphery while being spaced apart from the outer periphery and extended into the case, a tip connecting the other end of the outer periphery and one end of the inner periphery to each other, and a tip space formed by the outer periphery, the tip and the inner periphery, and a tip space formed by the outer periphery, the tip and the inner periphery. A diameter of the tip is smaller than a diameter of the outer periphery to a bent portion between the tip and the outer periphery.